diff options
| -rw-r--r-- | klippy/extras/tmc.py | 68 |
1 files changed, 36 insertions, 32 deletions
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 7ef2fc93..3dd46432 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -107,29 +107,6 @@ class TMCCommandHelper: # Send registers for reg_name, val in self.fields.registers.items(): self.mcu_tmc.set_register(reg_name, val, print_time) - def _handle_connect(self): - # Check for soft stepper enable/disable - stepper_enable = self.printer.lookup_object('stepper_enable') - enable_line = stepper_enable.lookup_enable(self.stepper_name) - if not enable_line.has_dedicated_enable(): - self.toff = self.fields.get_field("toff") - self.fields.set_field("toff", 0) - enable_line.register_state_callback(self.handle_stepper_enable) - logging.info("Enabling TMC virtual enable for '%s'", - self.stepper_name) - # Send init - retry_count = 0 - while 1: - try: - self._init_registers() - return - except self.printer.command_error as e: - logging.exception("TMC init error") - retry_count += 1 - if retry_count > 5: - raise self.printer.config_error(str(e)) - reactor = self.printer.get_reactor() - reactor.pause(reactor.monotonic() + 1.) cmd_INIT_TMC_help = "Initialize TMC stepper driver registers" def cmd_INIT_TMC(self, gcmd): logging.info("INIT_TMC %s", self.name) @@ -168,18 +145,45 @@ class TMCCommandHelper: else: gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA" % (prev_run_current, prev_hold_current)) - # Stepper enable/disable via comms - def _do_enable(self, print_time, is_enable): - toff_val = 0 - if is_enable: - toff_val = self.toff + # Stepper enable/disable tracking + def _do_enable(self, print_time): + try: print_time -= 0.100 # Schedule slightly before deadline - val = self.fields.set_field("toff", toff_val) - reg_name = self.fields.lookup_register("toff") - self.mcu_tmc.set_register(reg_name, val, print_time) + if self.toff is not None: + # Shared enable via comms handling + val = self.fields.set_field("toff", self.toff) + self._init_registers(print_time) + except self.printer.command_error as e: + self.printer.invoke_shutdown(str(e)) + def _do_disable(self, print_time): + try: + if self.toff is not None: + val = self.fields.set_field("toff", 0) + reg_name = self.fields.lookup_register("toff") + self.mcu_tmc.set_register(reg_name, val, print_time) + except self.printer.command_error as e: + self.printer.invoke_shutdown(str(e)) def handle_stepper_enable(self, print_time, is_enable): - cb = (lambda ev: self._do_enable(print_time, is_enable)) + if is_enable: + cb = (lambda ev: self._do_enable(print_time)) + else: + cb = (lambda ev: self._do_disable(print_time)) self.printer.get_reactor().register_callback(cb) + def _handle_connect(self): + # Check for soft stepper enable/disable + stepper_enable = self.printer.lookup_object('stepper_enable') + enable_line = stepper_enable.lookup_enable(self.stepper_name) + enable_line.register_state_callback(self.handle_stepper_enable) + if not enable_line.has_dedicated_enable(): + self.toff = self.fields.get_field("toff") + self.fields.set_field("toff", 0) + logging.info("Enabling TMC virtual enable for '%s'", + self.stepper_name) + # Send init + try: + self._init_registers() + except self.printer.command_error as e: + logging.info("TMC %s failed to init: %s", self.name, str(e)) # DUMP_TMC support def setup_register_dump(self, read_registers, read_translate=None): self.read_registers = read_registers |